Automated shuttle apparatus and methods of using the same

ABSTRACT

Various embodiments are directed to a shuttle configured for use in an AS/RS. In various embodiments, the shuttle comprises: a first load arm and a second load arm configured to retractably extend away from a shuttle body in parallel directions, the first and second load arms each being extendable between a retracted configuration and an extended configuration; a load bed including a load area configured to receive the object; and a retractable mechanical finger provided at a distal portion of the first load arm and configured to facilitate handling of the object, the mechanical finger being hingedly connected to the first load arm using a one-way hinge component that defines a portion of the range of rotational movement of the mechanical finger relative to the first load arm and comprising a spring element that facilitates rotational movement of the finger between an expanded finger position and a retracted finger position.

FIELD OF THE INVENTION

Example embodiments of the present invention relate generally tomaterial handling of containers, packages, discrete articles and/orother objects, and more specifically to techniques for moving objectsstored at a storage rack via a shuttle.

BACKGROUND

Automated storage and retrieval systems (AS/RSs) are key components inmaterial handling environments that utilize automation, software, andlabor to optimize the productivity and throughput in a variety ofoperations. Furthermore, AS/RSs provide flexibility and speed allowinguse in applications ranging from e-commerce and omnichannel fulfillmentto article distribution. AS/RSs utilize automated shuttles moving alongintegrated tracks within storage racks to retrieve stored objects fromdiscrete storage locations within those storage racks. Automatedshuttles used in AS/RSs may experience challenges in effectivelyretrieving, handling, and/or otherwise transporting objects having aunique and/or unconventional characteristic such as, for example, size,shape, storage position, and the like. Applicant has identified severaltechnical challenges associated with utilizing automated shuttles in anAS/RS to retrieve objects stored at discrete storage locations within astorage rack arrangement. Through applied effort, ingenuity, andinnovation, many of these identified challenges have been overcome bydeveloping solutions that are included in embodiments of the presentinvention, many examples of which are described in detail herein.

BRIEF SUMMARY

Various embodiments are directed to shuttles configured for use in anautomated storage and retrieval system and methods of operating thesame. Various embodiments are directed to a shuttle configured for usein an automated storage and retrieval system, the shuttle comprising: aplurality of retractable load arms at least partially secured relativeto a shuttle body and configured to be extendable between a retractedconfiguration and an extended configuration, the plurality ofretractable load arms comprising: a first load arm configured to extendat least substantially away from the shuttle body in a first lateraldirection; and a second load arm configured to extend at leastsubstantially away from the shuttle body in a second lateral directionthat is at least substantially parallel to the first lateral direction;a load bed configured to support at least one object and comprising awidth that extends between the first load arm and the second load arm,wherein at least a portion of the load bed defines a load areaconfigured to receive the at least one object therein; a retractablemechanical finger provided at a distal portion of the first load arm andconfigured to facilitate handling of the at least one object, themechanical finger being hingedly connected to the first load arm andcomprising at least one spring element that facilitates rotationalmovement of the mechanical finger relative to the first load arm betweenan expanded finger position and a retracted finger position; wherein themechanical finger is hingedly connected to the first load arm using aone-way hinge component configured to at least partially define a rangeof rotational movement of the mechanical finger relative to the firstload arm.

In various embodiments, the mechanical finger may be configured torotate from the expanded finger position in a retraction rotationaldirection at least partially towards the retracted finger position inresponse to a first retraction moment being imparted on the mechanicalfinger in the retraction rotational direction. In various embodiments,the expanded finger position may be defined by a finger length of themechanical finger extending from the first load arm and into the loadarea in an at least substantially perpendicular direction relative to anarm length of the first load arm; and wherein the retracted fingerposition is defined by the mechanical finger being retracted into thefirst load arm such that the finger length of the mechanical fingerextends at least substantially parallel to the arm length of the firstload arm. In various embodiments, at least one spring element of themechanical finger may be configured to bias the mechanical fingertowards the expanded finger position by applying a spring force to themechanical finger that imparts a first expansion moment on themechanical finger in an expansion rotational direction.

In various embodiments, the shuttle may further comprise a secondretractable mechanical finger provided at a second distal portion of thesecond load arm and configured to facilitate handling of the at leastone object, the second mechanical finger being hingedly connected to thesecond load arm and comprising at least one second spring element thatfacilitates rotational movement of the second mechanical finger relativeto the second load arm between a second expanded finger position and asecond retracted finger position; wherein the second mechanical fingeris hingedly connected to the second load arm using a second one-wayhinge component configured to at least partially define a second rangeof rotational movement of the second mechanical finger relative to thesecond load arm. In certain embodiments, the at least one second springelement of the second mechanical finger may be configured to bias thesecond mechanical finger towards the second expanded finger position byapplying a second spring force to the second mechanical finger thatimparts a second expansion moment on the second mechanical finger in asecond expansion rotational direction; wherein the expansion rotationaldirection defined by the mechanical finger and the second expansionrotational direction defined by the second mechanical finger comprise atleast substantially opposite rotational directions. In variousembodiments, the one-way hinge component may be defined at least in partby a vertical hinge axis such that the range of rotational movement ofthe mechanical finger relative to the first load arm is defined in an atleast substantially horizontal plane. In certain embodiments, the atleast substantially horizontal plane is at least substantially parallelthe load bed. In various embodiments, the one-way hinge component may beconfigured to, when the mechanical finger is in the expanded fingerposition, prevent the mechanical finger from being rotated in anexpansion rotational direction away from the retracted finger position,such that the one-way hinge component defines the rotational range ofmovement of the mechanical finger relative to the first load arm by atleast partially restricting the range of rotational movement in theexpansion rotational direction.

In various embodiments, at least a portion of the first load arm may beconfigured to be selectively translated in a first longitudinaldirection relative to the load area so as to dynamically adjust a loadwidth of the load area in order to facilitate handling of the at leastone object disposed on the load bed. In certain embodiments, the firstload arm may extend in the first lateral direction along a first guidetrack configured to define a first load arm travel path of the firstload arm between a retracted configuration and an extendedconfiguration, wherein at least a portion of the first guide track isdefined by a non-linear feature configured to cause the at least aportion of the first load arm to exhibit a longitudinal shift in thefirst longitudinal direction from a first longitudinal position to asecond longitudinal position as the first load arm travels along thefirst guide track in one of an extension direction and a retractiondirection.

In various embodiments, the first load arm may comprise an arm interfaceportion defined by a surface of the first load arm that is positioned atleast substantially adjacent the load area and faces the second load armso as to be configured for physical engagement of the at least oneobject disposed within the load area to at least partially secure the atleast one object within the load area; wherein the arm interface portionis made of a high-traction material. In various embodiments, the shuttlemay further comprise a second mechanical finger extending from the firstload arm into the load area in a second longitudinal direction at leastsubstantially parallel to the at least substantially perpendiculardirection relative to the first load arm; wherein the mechanical fingeris positioned at least substantially adjacent a first lateral side ofthe load bed and wherein the second mechanical finger is positioned atleast substantially adjacent a second lateral side of the load bed. Invarious embodiments, the shuttle may further comprise a secondmechanical finger configured to facilitate handling of the at least oneobject, the second mechanical finger extending from the second load arminto the load area in an at least substantially perpendicular directionrelative to the second load arm; wherein the mechanical finger ispositioned at least substantially adjacent a first lateral side of theload bed and wherein the second mechanical finger is positioned at leastsubstantially adjacent a second lateral side of the load bed.

Various embodiments are directed to a shuttle configured for use in anautomated storage and retrieval system, the shuttle comprising: aplurality of retractable load arms at least partially secured relativeto a shuttle body and configured to be extendable between a retractedconfiguration and an extended configuration, the plurality ofretractable load arms comprising: a first load arm configured to extendat least substantially away from the shuttle body in a first lateraldirection; and a second load arm configured to extend at leastsubstantially away from the shuttle body in a second lateral directionthat is at least substantially parallel to the first lateral direction;a load bed configured to support at least one object and comprising awidth that extends between the first load arm and the second load arm,wherein at least a portion of the load bed defines a load areaconfigured to receive the at least one object therein; a mechanicalfinger provided at a distal portion of the first load arm and configuredto facilitate handling of the at least one object, the mechanical fingerextending from the first load arm into the load area in an at leastsubstantially perpendicular direction relative to the first load arm;wherein at least a portion of one or more of the first load arm and thesecond load arm is configured to be selectively translated in a firstlongitudinal direction relative to the load area so as to dynamicallyadjust a load width of the load area in order to facilitate handling ofthe at least one object disposed on the load bed.

In various embodiments, the mechanical finger may comprise an at leastsubstantially rigid configuration. In various embodiments, the shuttlemay further comprise a second mechanical finger provided at a seconddistal portion of the second load arm and configured to facilitatehandling of the at least one object, the second mechanical fingerextending from the second load arm into the load area in an at leastsubstantially perpendicular direction relative to the second load armand comprising an at least substantially rigid configuration; wherein atleast a portion of the first load arm and at least a portion of secondload are configured to be selectively translated in the firstlongitudinal direction and a second longitudinal direction relative tothe load area, respectively, so as to dynamically adjust the load widthof the load area in order to facilitate handling of the at least oneobject disposed on the load bed.

In various embodiments, the mechanical finger may comprise an at leastpartially retractable configuration defined by a range of relativelinear movement between the mechanical finger and the first load arm,wherein the mechanical finger is configured to at least partiallyretract from an expanded finger position in a longitudinal retractiondirection towards a retracted finger position based at least in part ona pushing force applied to the mechanical finger from the at least oneobject disposed within the load area. In certain embodiments, themechanical element may further comprise at least one spring element thatfacilitates linear movement of the mechanical finger relative to thefirst load arm between the expanded finger position and the retractedfinger position, the spring element being configured to bias themechanical finger towards the expanded finger position by applying aspring force to the mechanical finger in the at least substantiallyparallel direction relative to the first load arm. In variousembodiments, the shuttle may further comprise a second mechanical fingerconfigured to facilitate handling of the at least one object, the secondmechanical finger extending from the second load arm into the load areain an at least substantially perpendicular direction relative to thesecond load arm; wherein the mechanical finger is positioned at leastsubstantially adjacent a first lateral side of the load bed and whereinthe second mechanical finger is positioned at least substantiallyadjacent a second lateral side of the load bed.

BRIEF DESCRIPTION OF THE DRAWINGS

Reference will now be made to the accompanying drawings, which are notnecessarily drawn to scale, and wherein:

FIG. 1 illustrates a schematic view of an exemplary automated storageand retrieval system according to various embodiments described herein;

FIG. 2 illustrates a perspective view of an exemplary shuttle apparatusaccording to various embodiments described herein;

FIGS. 3A-3C illustrate various top views of exemplary shuttleapparatuses according to various embodiments described herein;

FIGS. 4A-4B illustrate various top views of exemplary shuttleapparatuses according to various embodiments described herein;

FIGS. 5A-5B illustrate various top views of exemplary shuttleapparatuses according to various embodiments described herein; and

FIG. 6 illustrates a top view of an exemplary shuttle apparatusaccording to various embodiments described herein.

DETAILED DESCRIPTION

The present disclosure more fully describes various embodiments withreference to the accompanying drawings. It should be understood thatsome, but not all embodiments are shown and described herein. Indeed,the embodiments may take many different forms, and accordingly thisdisclosure should not be construed as limited to the embodiments setforth herein. Rather, these embodiments are provided so that thisdisclosure will satisfy applicable legal requirements. Like numbersrefer to like elements throughout.

It should be understood at the outset that although illustrativeimplementations of one or more aspects are illustrated below, thedisclosed assemblies, systems, and methods may be implemented using anynumber of techniques, whether currently known or not yet in existence.The disclosure should in no way be limited to the illustrativeimplementations, drawings, and techniques illustrated below, but may bemodified within the scope of the appended claims along with their fullscope of equivalents. While values for dimensions of various elementsare disclosed, the drawings may not be to scale.

The words “example,” or “exemplary,” when used herein, are intended tomean “serving as an example, instance, or illustration.” Anyimplementation described herein as an “example” or “exemplaryembodiment” is not necessarily preferred or advantageous over otherimplementations.

The words “lateral,” longitudinal,” and “vertical,” when used herein,are intended to be used for referential and/or illustrative purposes inorder to provide context for one or more aspects of the presentinvention, and should be strictly interpreted as being limited aparticular universal direction. By way of non-limiting example, asdescribed herein with reference to the directional references providedin the figures, the “lateral” direction may extend along an x-axis, a“longitudinal” direction may extend perpendicularly within at leastsubstantially the same plane as a lateral direction, such as, forexample, along a y-axis, and a “vertical” direction may extendperpendicularly within an at least substantially perpendicular planerelative to both the lateral and longitudinal directions, such as, forexample, along an a z-axis.

The components illustrated in the figures represent components that mayor may not be present in various embodiments of the invention describedherein such that embodiments may include fewer or more components thanthose shown in the figures while not departing from the scope of theinvention.

Automated storage and retrieval systems may utilize various materialhandling products such as various carriages, carts, lifts, conveyors,and/or the like to facilitate the transportation of objects to a desireddelivery location within a factory or a warehouse. For example,automated shuttles may be used to transport objects to and/or fromvarious storage locations organized along storage aisles arranged withina storage environment. To retrieve a stored object from a storedlocation within an AS/RS, automated shuttles may be transported to thestorage location, where automated shuttles are often configured toutilize various electronically-driven components disposed on the shuttleto physically retrieve the stored object from within the storagelocation. For example, to extract an object from a storage location,shuttles in AS/RSs may use electronically-driven motors to deployvarious electronically-actuated retention elements (e.g., hooks,fingers, and/or the like) connected to an extendable load arm that isextended from the shuttle into the storage location such that theelectronical retention elements disposed about a distal end of the loadarm may interface the stored object. Various shuttles utilize actuatablefingers provided on the distal end of the extendable load arm that aredriven by electronic motors such that they may be selectivelycontrolled, such as, for example, extended and retracted, to avoidunwarranted physical interference with the object stored in the storagelocation, which may cause object misalignment that can lead tooperational efficiencies and even system failures. Automated shuttlesthat operate using such motor-driven control systems or electronicretrieval components exhibit extremely high manufacturing costs and areoften plagued by an increased amount of part and/or system failuresresulting from the configuration of such electronic and/or motor-driveninstruments on inherently dynamic parts of an automated shuttle, suchas, for example, along a load arm. The use of electronically controlledretrieval components in an automated shuttle requires the use of a largeamount of wires, cables, sensors, motors, and/or the like, each of whichis required to be connected back to the shuttle. Not only does such aconfiguration introduce a vast array of complexities into the design ofthe shuttle, but it drastically increases the part costs and maintenancecosts required to maintain the operation of the shuttle over the life ofthe product.

The present invention relates to a shuttle configured for use in anAS/RS that comprises a material handling assembly comprising aretractable mechanical finger provided at a distal portion of load armand configured to facilitate handling of an object stored within theAS/RS. In various embodiments, the present invention comprises a shuttleincluding at least one retractable load arm configured to extend into astorage location to facilitate the retrieval of an object storedtherein. In various embodiments, the exemplary shuttle comprises atleast one mechanical finger that is hingedly connected to a distal endof the load arm using a one-way hinge component configured to at leastpartially define a range of rotational movement of the mechanical fingerrelative to the load arm. The hinged configuration of an exemplarymechanical finger enables the mechanical finger to, upon physicallyengaging an object within a storage location, rotate about the hingeaxis towards a retraction position so as to at least substantiallymitigate the amount of unwarranted physical interference between themechanical finger and the stored object as the load arm is extended intothe storage location. Further, the exemplary shuttle described hereincomprises a mechanical finger that includes a one-way hinge componentthat enables the aforementioned configuration wherein the mechanicalfinger is capable of evading problematic premature engagement with thestored object, while maintaining the functionality of the mechanicalfinger with respect to the handling of a stored object and/or securingof a captured object within a load area during a retrieval operation.Further, the exemplary shuttle described herein comprises a mechanicalfinger that comprises a spring-loaded configuration enabled by at leastone spring element configured to facilitate the arrangement of anexemplary mechanical finger in a repeatable, reliable arrangement forserial operation in an AS/RS.

As described herein, the present invention includes a shuttle apparatusconfigured for use in an AS/RS, including a material handling assemblythat at least substantially minimizes the reliance on electronicretrieval elements and motor-driven components disposed along the loadarm for use in a retrieval operation. The present invention utilizes,for example, mechanical fingers designed to maintain the functionprovided with electronic control systems, while at least substantiallyminimizing the maintenance costs, product costs, operationalinefficiencies, and unnecessary design complexities associated withinsuch systems. In particular, the present invention minimizes the costsassociated with operation of the shuttle and embodies a robust designdeliberately configured to avoid the physical and operationalinefficiencies associated with various shuttles that rely on complex andhighly sensitive electronic control elements that are disposed within aninherently dynamic shuttle components that are serially reconfiguredthroughout the life of the shuttle.

FIG. 1 illustrates a material handling system that includes an automatedstorage and retrieval system (AS/RS) 1. A storage rack 13 of the AS/RS 1may be defined as a series of vertically arranged shelves, eachsupported by a support frame. The support frame may comprise verticalsupport members separating various levels within the storage rack 13,and horizontal support members supporting individual shelves. Each shelfmay define and/or comprise one or more bay, each bay may encompass aplurality of storage locations configured for storing at least oneobject (e.g., a storage container, a product, a spool, and/or otherobject configurations) therein. In various embodiments, an AS/RS 1 maydefine one or more aisles 17 defined between two adjacent storage racks13 with one or more shuttles 10 defined therein to remove and/or placeobjects into storage locations within the storage rack. As shown, theobjects may be moved between different levels via lifts 11 and/or to andfrom pick-up and drop-off stations 14. In an example embodiment, theobjects may be received by the system at pick-up and drop-off stations14 from the in-feed conveyor 16 via the product delivery system 12 and acorresponding lift interface. In various embodiments, the objects may beremoved from the AS/RS via pick-up and drop-off stations 14, which passthe object to the product delivery system 12, then the lift interface,and finally to the out-bound conveyor 18.

In various embodiments, a storage rack 13 may be provided with objectsvia in-feed conveyors 16 for storage. In various embodiments, thestorage rack 13 may define multiple levels connected via vertical lifts11 configured to move objects between the in-feed and out-feed conveyors16, 18 to an appropriate level of the storage rack 13. The verticallifts 11 have a vertical support structure positioned proximate to thestorage rack 13 to pick up and to deposit objects at selected levelswithin the storage rack 13. The vertical lifts 11 may be secured to theracks and transport objects between conveyors defined on differentlevels.

As described herein, in various embodiments, each shelf within a storagerack 13 of an AS/RS 1 may comprise a storage location. For example, eachlevel of a storage rack 13 may be divided into storage locations whichmay be defined as a physical space on the shelf where an object may bestored. For example, in various embodiments, an object may be any typeof container used in an AS/RS, such as a carton, a case, a tote, adivided tote, a tray, a pallet, or the like. In various embodiments, asdiscussed herein the storage location may be defined by a storage depthand a storage width configured such that the storage location is capableof holding one or more objects. Various shelves may have variousconfigurations with storage locations having different sizes and/ordepths based on the given configuration (e.g., the size and shape of agiven object).

In various embodiments, the AS/RS 1 may comprise at least one automatedshuttle 10 configured to travel along a shuttle guide track providedwithin one or more aisle 17, racks 13, and/or the like of the AS/RS 1 tofacilitate the retrieval, storage, and/or transportation of variousobjects throughout the AS/RS 1. For example, in order to remove and/orplace objects into various storage locations of a storage rack 13, theAS/RS 1 may use a shuttle 10 configured to retrieve an object from thestorage rack 13 (e.g., the storage location), as described herein. Insome embodiments, the shuttle 10 may be disposed between two storageracks 13, such that the shuttle may retrieve one or more objects in anystorage location of the two storage racks 13 along a given level (e.g.,a load arm(s) of a shuttle may extend towards either of the two storageracks 13). For example, two adjacent storage racks may be separatedsufficiently to allow the shuttle to move therebetween. Further, anexemplary storage location defined within a storage rack 13 may beconfigured such that an object stored therein may be retrieved,disposed, and/or otherwise engaged by an exemplary shuttle 10.

As a non-limiting example, FIG. 2 illustrates an exemplary shuttleaccording to various embodiments described herein. In particular, FIG. 2illustrates an exemplary shuttle 10 configured to facilitate storageand/or retrieval of an object within an AS/RS 1 by handling the objectand transporting the object to and/or from a storage location within theAS/RS 1. For example, as described herein, an exemplary shuttle 10 maybe configured to retrieve an object from a storage location within anexemplary AS/RS 1, transport the retrieved object to another secondstorage location within the AS/RS 1, and provide (e.g., dispense) theobject at the second storage location. For example, in variousembodiments, an exemplary shuttle may comprise a base assembly 100comprising a shuttle body 101, one or more transportation components,such as, for example, a drive motor and one or more wheels 170 to enablethe shuttle 10 to move along a shuttle guide track within the AS/RS 1via the drive motor, and/or one electronic components configured tofacilitate electronic communication of one or more power signals,instructional signals, informational signals, and/or the like betweenthe various electronic components of the shuttle 10 and/or othercomputing devices associated with the AS/RS 1, as well as a materialhandling assembly 200 configured to facilitate the handling (e.g., theretrieval and/or disposal) of an object by the shuttle 10.

In various embodiments, the shuttle 10 may be any type of one-levelshuttle (OLS) vehicle typically used in a AS/RS, such as a shuttle, acarrier, a bot, and/or the like. In various embodiment, the shuttle 10may be a self-contained unit, receiving power (e.g., 48 VDC) from a busbar located inside the shuttle guide track that may be mounted to thestorage rack. In various embodiments, the power guide track (e.g., 48VDC power supplied to the track) may be powered from a DC power panel.In various embodiments, a single DC power panel can power a plurality ofshuttles (e.g., up to six shuttles). In various embodiments, the shuttle10 may receive control system commands over a Wireless Local AreaNetwork (WLAN). In various embodiments, at least one shuttle 10 may bedisposed along each level of the storage rack 13. As such, theshuttle(s) 10 may be configured to move along the aisle of a storagerack 13 via a shuttle guide track extending along the length thereof,such as, for example, via the one or more wheels 170 of the baseassembly 100. In various embodiments, the shuttle guide track may beaffixed to at least a portion of the storage rack 13. Alternatively, oradditionally, it should be understood that any of a variety of movementmechanisms may be utilized for moving a shuttle 10 (e.g., belt-drivesystems, magnetic movement mechanisms, chain-drive systems, and/or thelike). Moreover, it should be understood that the movement mechanismsmay be defined within the shuttle 10 (e.g., a motor positioned on theshuttle) or within the storage rack 13 (e.g., motors within the storagerack). In various embodiments, the shuttle(s) 10 may be configured withsensors configured move to an intended storage location and/or engagewith an object in a given storage location. For example, the shuttle 10may be equipped with a proximity sensor to determine the location of theshuttle 10 along the aisle of the storage rack 13 or to determine thedepth of a given object within a storage location. In variousembodiments, the shuttle 10 may also be equipped with sensors andonboard devices, such as Wi-Fi antenna for communication with aWarehouse Control System (WCS), overload protection, one or more powersupplies (e.g., 24 Volt power supply and/or 48 volt power supply),digital input and output modules, and/or the like.

In various embodiments, a materials handling assembly may comprise anobject load bed and one or more retractable load arms configured toextend into a storage location and defined at least in part by an arminterface portion configured to engage an object. Further, in variousembodiments, the one or more load arms may include at least onemechanical finger provided at a distal end of the load arm (e.g., at adistal end of the outer arm element thereof) and configured to at leastpartially protrude from an inward-facing surface of the load arm, so asto function as a physical barrier at least partially restricting themovement of an object disposed on the load bed of the shuttle.

As a non-limiting example illustrated in FIG. 2 , the material handlingassembly 200 of an exemplary shuttle 10 may comprise an object load bed201, a plurality of load arms comprising a first load arm 210 and asecond load arm 220. As shown, the exemplary shuttle 10 furthercomprises a plurality of mechanical fingers 230 comprising a firstmechanical finger 231 provided at the distal end of the first load arm210 and a second mechanical finger 232 provided at the distal end of thesecond load arm 220, the first and second mechanical fingers 231, 232each being defined by a respective length that extends from aninward-facing surface of the respective load arm (e.g., the arminterface portion of the outer arm element, as described herein) in aninward longitudinal direction (e.g., towards the central width axis ofthe load bed 201) at least partially towards the opposing load arm.

In various embodiments, shuttles 10 discussed herein may define anobject load bed 201 defined by a surface, such as, for example, an atleast substantially horizontal surface, upon which an object may be heldby a shuttle 10 during a retrieval operation and/or storage operationbeing executed by the shuttle 10. The shuttle may define an object loadbed 201 (shown in at least FIG. 2 , for example) defined between atleast a portion of two opposing load arms (e.g., two opposing arminterface portions), as described herein. The object load bed defines afloor configured to support the object(s) during movement. The load bed201 of an exemplary shuttle 10 may be defined at least in part by awidth extending in a longitudinal direction (e.g., in the y-direction,as illustrated) between the opposing load arms load arms, and a depthextending in a lateral direction (e.g., in the x-direction, asillustrated). In various embodiments, the load bed 201 may define a loadarea defined as the portion of the load bed upon which an object may bedisposed. For example, as described in further detail herein, the loadarea may be selectively increased and/or decreased by translating one ormore of the retractable load arms in the longitudinal direction.

Further, in various embodiments, the material handling assembly 200 ofan exemplary shuttle 10 may comprise a first load arm 210 and a secondload arm 220, each having a retractable configuration (e.g., atelescoping configuration, a sequential sliding configuration, and/orthe like) so as to be extendable between a retracted configuration, asillustrated in the exemplary embodiment shown FIG. 2 , and an extendedconfiguration wherein the load arm is extended in an outward directionaway from the shuttle body 101 to enable the load arm to enter a givenstorage location (e.g., for retrieval and/or storage of an object). Invarious embodiments, a load arm may comprise a plurality ofinterconnected arm elements secured relative to one or more other armelements such that the relative motion therebetween defines theextension and/or retraction of the load arm between the retracted andextended configurations. In various embodiments, the configuration(e.g., dimensions) of the plurality of arm elements may be based atleast in part on the configuration of the AS/RS (e.g., the shuttle racks13 and/or the storage location(s) defined therein), so as to ensure thatthe shuttle 10 can operably access an object provided within a storagelocation. For example, the plurality of arm elements of an exemplaryload arm may include an outer arm element that is defined by the armelement of the plurality that defines the distal end of the load armwhen configured in the extended configuration (e.g., the arm elementthat positioned furthest away from the shuttle body 101 when the loadarm is in an extended configuration). As described herein, an outer armelement is defined at least in part by an arm element length thatextends in a lateral direction (e.g., in the x-direction, as illustratedin FIG. 2 ) along one side of the load bed 201. For example, in variousembodiments, material handling assembly 200 may be configured such thatthe outer arm element of a load arm may be secured in an adjacentposition relative to a side of the load bed 201, extending along thewidth of the load bed 201. As illustrated in FIG. 2 , the first load arm210 the exemplary shuttle 10 is defined in part by a first outer armelement 210 a and the second load arm 220 is defined in part by a secondouter arm element 220 a. As shown, the first outer arm element 210 a andthe second outer arm element 220 a are provided on opposing sides of theobject load bed 201, each extending along the width thereof.

Further, in various embodiments, the outer arm element (e.g., firstouter arm element 210 a, second outer arm element 220 a) of aretractable load arm may comprise an arm interface portion that isconfigured to physically engage an object so as to at least partiallyconstrain the movement of the object relative to the shuttle 10 in oneor more directions in order to facilitate handling and/or transportationof the object. As described herein, in various embodiments, an arminterface portion may comprise a surface of configured to interact withan object during a retrieval operation and/or dispense operation to atleast partially maintain the position of an object on the load bed asthe one or more load arms move between the retracted and extendedconfigurations. As described in further detail herein, in variousembodiments, the arm interface portion of an exemplary load arm maycomprise an at least substantially rigid surface defined at least inpart by a substantially rigid material, such as, for example, one ormore ferrous metals, one or more non-ferrous metals, a high-densityplastic (e.g., UHMW, Delrin, Nylon), and/or the like. Additionally, oralternatively, in various embodiments, arm interface portion of anexemplary load arm may comprise an at least substantially compliantsurface defined at least in part by a substantially flexible material,such as, for example, a rubber, an open-cell foam, a closed-cell foam,and/or the like. Further, in various embodiments, as described herein,at least a portion of the arm interface portion of a load arm maycomprise a high-traction surface defined by a slip-resistant, adhesive,and/or otherwise friction-inducing material configured to resist themovement of an object abutted thereagainst relative to the load bed 201,such as, for example, a rubber, a friction tape, and/or any otherapplicable material having a substantially high coefficient of friction.In various embodiments, such an exemplary high-traction surface may bedefined by a surface comprising one or more geometric features, such as,for example, ribs, grooves, and/or the like, provided thereon that isconfigured to increase the resistance realized by an object engaged withthe high-traction surface.

For example, the exemplary first outer arm element 210 a of the firstload arm 210 of the exemplary shuttle shown in FIG. 2 comprises a firstarm interface portion 211 that is defined by the inward-facing surface(e.g., facing toward the load area defined by the load bed 201) providedalong the length of the first outer arm element 210 a. As shown, thefirst and second outer arm elements 210 a, 220 a of the first and secondload arms 210, 220 may extend along opposing ends of the load bed 201 inan at least substantially parallel configuration (e.g., in a lateraldirection along the width of the load bed 201) such that the first arminterface portion 211 and the second arm interface portion 212 areconfigured to face one another. As described herein, the load width ofan exemplary shuttle 10 may be defined by the operable width along theload bed between the first load arm 210 and the second load arm 220within which an object may be received. In such an exemplarycircumstance, for example, the load width of an exemplary shuttle 10 ata particular instance may be defined by the perpendicular distancebetween the first arm interface portion 211 and the second arm interfaceportion 212 (e.g., as measured in the longitudinal direction).

In various embodiments, wherein an exemplary load arm comprises aplurality of interconnected arm elements arranged in a retractableconfiguration, as described herein, a retracted configuration may embodyan arrangement wherein each of the plurality of arm elements is disposedin a fully retracted position relative to the adjacent arm elementsecured thereto such that each of the plurality of arm elements ispositioned at least substantially within the shuttle body 101. Further,in various embodiments, an extended load arm configuration may bedefined by each of the plurality of arm elements being in a fullyextended position (e.g., defined by minimal overlap along the respectivelengths of the elements) relative to the adjacent arm element securedthereto such that at least a portion of the plurality of arm elements ofthe load arm is extended at least substantially beyond the shuttle body101 of the shuttle 10. As an illustrative example, an exemplary shuttle10 may execute a retrieval operation with respect to an object at astorage location by being transported through an AS/RS to a positionthat is at least substantially aligned with the storage location,extending a first load arm 210 and a second load arm 220 from aretracted configuration to an extended configuration in at leastsubstantially simultaneous manner so as to cause interaction between theobject and the load bed 201 (e.g., such that the object is disposed onthe load bed 201), and retracting the first and second load arm from theextended configuration back to the retracted configuration such that theobject on the load bed 201 is arranged on top of the shuttle body 101for transportation throughout the AS/RS (e.g., to a destinationlocation).

In various embodiments, the materials handling assembly 200 of anexemplary shuttle 10 may comprise a retractable load arm comprising amechanical finger disposed at a distal end thereof (e.g., at a distalend of the outer arm element) and having a length that extends from thecorresponding outer arm element in an inward longitudinal direction(e.g., into the load area). As an illustrative example, the exemplaryshuttle 10 comprises a plurality of mechanical fingers 230, including afirst mechanical finger 231 provided at a distal end of the first loadarm 210 and a second mechanical finger 232 provided at a distal end ofthe second load arm 220. For example, in various embodiments, the firstand second mechanical fingers 231, 232 may each be configured to, as therespective load arm to which it is attached is being retracted from anextended configuration towards a retracted configuration as part of aretrieval operation, physically engage at least a portion of an objectdisposed on the load bed 201 so as to cause the object to move with theload arms 210, 220 back towards the shuttle body 101. As illustrated,the first and second mechanical fingers 231, 232 protruding from thefirst and second arm interface portions 211, 221, respectively, inopposing inward directions (e.g., each into the load area) mayfacilitate the retrieval operation of the shuttle 10 by functioning as adynamic physical barriers that move along with the respective load arm210, 220 so as to cause the object being retrieved to be retained withinthe load area on the load bed 201 throughout the movement of the loadarms 210, 220 from the extended configuration to the retractedconfiguration.

As described in further detail herein a mechanical finger provided at anend of an exemplary load arm may comprise an at least substantiallyrigid protrusion configured to remain in a fixed position relative tothe load arm from which it extends. Additionally, or alternatively, invarious embodiments, an exemplary mechanical finger may have an at leastpartially retractable configuration such that the mechanical finger maybe at least partially retracted toward the load arm (e.g., the outer armelement) to which the finger is secured based at least in part on thefinger physically engaging at least a portion of an object disposed inthe load area on the load bed 201. For example, in various embodiments,an exemplary retractable mechanical finger may be hingedly connected toa retractable load arm using a one-way hinge component configured to atleast partially define a range of rotational movement of the mechanicalfinger relative to the load arm. Further, in various embodiments, anexemplary retractable mechanical finger may be connected to aretractable load arm and configured for linear retraction and/orexpansion into and/or out of the load arm along a range of linearmovement defined in a perpendicular direction relative to the arminterface portion of the load arm. As described in further detailherein, various mechanical fingers comprising an at least partiallyretractable configuration to facilitate efficient execution of aretrieval and/or storage operation within an AS/RS may comprise aspring-loaded configuration wherein at least one spring element of themechanical finger is configured to facilitate the arrangement of anexemplary mechanical finger in a repeatable, reliable manner foroperation in an automated storage and retrieval system.

FIGS. 3A-3C illustrate various top views of exemplary shuttlesconfigured for use in an AS/RS according to various embodimentsdescribed herein. In particular, FIG. 3A illustrates an exemplaryshuttle 10 comprising a first load arm 210 and a second load arm 220,each configured to be moveable in a longitudinal direction (e.g., ay-direction, as illustrated) in order to selectively increase and/ordecrease the load width of the material handing assembly 200 during aretrieval and/or storage operation. The material handling assembly 200of the illustrated shuttle 10 includes a plurality of mechanical fingerscomprising a first mechanical finger 231 positioned at the distal end ofthe first load arm 210 and a second mechanical finger 232 positioned atthe distal end of the second load arm 220. As described herein, both thefirst and second mechanical fingers 231, 232 comprise rigid elementsextending from a respective arm interface portion 211, 221 of a load arm210, 220 in an inward direction into the load area.

In various embodiments, the shuttle 10 may be configured to execute aretrieval operation by extending the first and second load arms 210, 220of the shuttle 10 from a retracted configuration an outward lateraldirection (e.g., in the negative x-direction, as illustrated) away fromthe shuttle body 101 towards a storage location containing a storedobject. As shown, in various embodiments, each load arm 210, 220 may beextended towards an extended configuration by moving the interconnectedarm elements thereof relative to one another along an at leastsubstantially linear guide track configured to cause the load arm toextend in an at least substantially linear (e.g., lateral) direction.For example, in an exemplary circumstance wherein the material handlingassembly 200 of a shuttle 10 comprises rigid mechanical fingers 231, 232protruding from respective load arms 210, 220 into the load area, suchas, for example, the exemplary shuttle illustrated in FIG. 3A, the firstand second load arms 210, 220 extend in parallel linear directions suchthat the respective arm interface portions 211, 221 are separated by alongitudinal distance that is at least substantially greater than thewidth of the stored object in the storage location. That is, as thefirst and second load arms 210, 220 are extended into the storagelocation and the first and second mechanical fingers 231, 232 pass theobject stored therein, the load width defined by the separation distancebetween the first and second arm interface portions 211, 221 issufficiently large such that neither the first mechanical finger 231 northe second mechanical finger 232 physically engage the stored object.

Upon the load arms 210, 220 being arranged in a fully extendedconfiguration such that the stored object is disposed on the load bed201 in between the first and second outer arm elements 210 a, 220 a(e.g., the first and second arm interface portions 211, 221), one ormore of the load arms 210, 220 may be configured to translate at leastthe outer arm element thereof (e.g., first outer arm element 210 a,second outer arm element 220 a) longitudinally (e.g., in a y-direction,as illustrated) into the load area (e.g., towards the opposing load arm)such that the arm interface portion thereof is physically pressedagainst at least a portion of the stored object. In various embodimentswherein the shuttle 10 comprises a first load arm 210 and a second loadarm 220, one of the load arms may be configured to longitudinallytranslate the outer arm element thereof into the load area, asdescribed, while the other load arm may comprise a longitudinally rigidconfiguration such that the longitudinally dynamic load arm may be usedto functionally pin a captured object against the opposing rigid loadarm during transportation of the shuttle.

Additionally, or alternatively, as shown in FIG. 3A, the first load arm210 and the second load arm 220 may be configured to longitudinallytranslate the first outer arm element 210 a and the second outer armelement 220 a, respectively, in opposite directions into the load areasuch that the stored object disposed on the load bed 201 is physicallyengaged on opposing sides thereof by the first arm interface portion 211and the second arm interface portion 221. For example, as illustrated,upon the first and second load arms 210, 220 being extended into thestorage location such that the stored object is positioned within theload area, the first outer arm element 210 a of the first load arm 210may be configured to selectively move in the first longitudinaldirection 301 (e.g., corresponding to the positive y-direction, asillustrated) in order for the first arm interface portion 211 to abut atleast a portion of the object, and the second outer arm element 220 a ofthe second load arm 210 may be configured to selectively move in thesecond longitudinal direction 302 (e.g., corresponding to the negativey-direction, as illustrated) opposite the first longitudinal direction301 in order for the second arm interface portion 221 to abut against aportion of the object on the opposite side of the object. For example,as the first and second load arms 210, 220 are extending away from theshuttle body 101 (e.g., in the negative x-direction, as illustrated),the first arm interface portion 211 and the second arm interface portion221 are separated by a first separation distance configured such thatthe distance between the first mechanical finger 231 and the secondmechanical finger 232 is at least substantially larger than the width ofthe stored object. Upon the first arm interface portion 211 and thesecond arm interface portion 221 being laterally translated in the firstand second longitudinal directions 301, 302, respectively, the first arminterface portion 211 and the second arm interface portion 221 may beseparated by a second separation distance that is at least substantiallysmaller than the first separation distance and configured to be at leastsubstantially equal to the width of the object such that the distancebetween the first mechanical finger 231 and the second mechanical finger232 is at least substantially smaller than the width of the object. Insuch an exemplary circumstance, the longitudinally dynamic configurationof the first and second load arms 210, 220 may allow the shuttle 10 toavoid unwarranted physical interference between the rigid mechanicalfingers 231, 232 and the stored object as the load arms 210, 220 arelaterally extended in an extension direction (e.g., in the negativex-direction, as illustrated) into the storage location, whileeffectively utilizing both the first and second mechanical fingers 231,232 during retraction of the load arms 210, 220 to engage the capturedobject and at least partially stabilize the object on the load bed 201as the first and second load arms 210, 220 are retracted in a retractiondirection (e.g., in the positive x-direction, as illustrated) towardsthe shuttle body 101. The rigid configuration of the mechanical fingers231, 232 at least partially restricts the relative movement between thecaptured object and the load bed 201 by preventing the captured objectfrom moving relative to the load bed 201 in the opposite lateraldirection (e.g., in the negative x-direction, as illustrated) as theload arms 210, 220 are being retracted in the retraction direction fromthe storage location back towards the shuttle body 101.

In various embodiments, wherein at least a portion of each of the firstload arm 210 and the second load arm 220 were laterally translated intothe load area while the load arms 210, 220 were in an extendedconfiguration to engage the captured object disposed therein, the firstload arm 210 and the second load arm 220 may each be further configuredto laterally translate the outer arm element thereof in the oppositelongitudinal direction away from the opposing load arm in order toselectively disengage the captured object disposed on the load bed 201.For example, as illustrated in FIG. 3B, upon the first and second loadarms 210, 220 being fully retracted back to the retracted configurationsuch that the object has been retrieved from the storage location backto shuttle body 101 of the shuttle 10, at least the first outer armelement 210 a of the first load arm 210 may be configured to move in thethird longitudinal direction 303 (e.g., corresponding to the negativey-direction, as illustrated) in order for the first arm interfaceportion 211 to disengage the at least a portion of the object, and thesecond outer arm element 220 a of the second load arm 210 may beconfigured to selectively move in the fourth longitudinal direction 304(e.g., corresponding to the positive y-direction, as illustrated)opposite the third longitudinal direction 303 in order for the secondarm interface portion 221 to disengage the opposite side of the object.In various embodiments, upon the first and second load arms 210, 220undergoing such a lateral translation in the retracted configuration,the separation distance between the first arm interface portion 211 andthe second arm interface portion 221 may return to being at leastsubstantially equal to the first separation distance, as describedabove, exhibited by the plurality of load arms 210, 220 during theextension of the load arms 210, 220 into the storage location (e.g.,towards an extended configuration).

As described herein, in various embodiments, an exemplary load arm of amaterial handling system 200 may extend and retract (e.g., between anextended configuration and a retracted configuration) by moving theinterconnected arm elements thereof relative to one another along an atleast substantially linear guide track such that the outer arm elementthereof is moved along a linear travel path in an at least substantiallylateral direction. For example, the exemplary shuttle illustrated inFIGS. 3A and 3B may comprise a first load arm 210 and a second load arm220 that expand and retract by moving along respective linear travelpaths that define the linear motion of the respective load arms 210, 220between the retracted and expanded configurations. For example, invarious embodiments wherein a load arm, such as, for example, a firstload arm 210, comprises a rigidly configured mechanical finger 231positioned at a distal end thereof the first load arm 210 may beconfigured to move along a linear track between a retractedconfiguration and an extended configuration and accommodate the need fora change in load width by selectively executing a longitudinaltranslation of at least the first outer arm element 210 a thereof eitherinto or away from the load area (e.g., in either the first longitudinaldirection 101 or the third longitudinal direction 303), as needed.Additionally, or alternatively, in various embodiments, the materialhandling assembly 200 may be configured such that an exemplary load armmay be extended and retracted (e.g., between an extended configurationand a retracted configuration) by moving the interconnected arm elementsthereof relative to one another along a guide track comprising at leastone non-linear track portion configured to dynamically adjust the loadwidth of the load area as the outer arm element of the load arm travels(e.g., extends and/or retracts) through the non-linear portion of theguide track. material handling assembly 200 that the load width of thecause the load width to extend in an at least substantially linear(e.g., lateral) direction. For example, an exemplary load arm may travelalong a guide track comprising one or more curved features, such as, forexample, an at least partially s-shaped curve, that connects a firstlateral track portion to a second lateral track portion that extends inthe same lateral direction as the first lateral track portion, but islongitudinally offset therefrom in a position at least substantiallycloser to the opposing load arm than the first lateral track portion.

As a non-limiting example, FIG. 3C illustrates an exemplary materialhandling assembly 200 wherein both the first load arm 210 and the secondload arm 220 are moved between their respective retracted and extendedconfigurations along a guide track that is defined at least in part by anon-linear track portion. For example, as illustrated, the first loadarm 210 may travel along an at least partially non-linear guide trackconfigured that causes the first load arm 210 to exhibit a correspondingfirst non-linear travel path 305 as it moves between a retractedconfiguration and an extended configuration. The at least partiallynon-linear guide track may comprise a curved portion configured suchthat as the first load arm 210 is being extended and the first outer armelement 210 a travels through a curved portion 305 a of the firstnon-linear travel path 305 and away from the shuttle body 101 towardsthe extended configuration, the first outer arm element 210 a is shiftedlongitudinally towards (e.g., into) the load area (e.g., towards theopposing second load arm 220). In various embodiments, for example, sucha non-linear guide track may be configured to cause the first outer armelement 210 a (e.g., the first arm interface portion 211) travellingthere along to be longitudinally shifted towards the load area in orderto decrease the load width of the load area to a width that is at leastsubstantially equal to the width of a stored object being retrieved froma storage location. In various embodiments, such an exemplaryconfiguration facilitates the engagement of the first mechanical finger231 with the stored object for executing the retrieval operation.Conversely, as the first load arm 210 is retracted and the first outerarm element 210 a is moved in the opposite direction (e.g., towards aretracted configuration) along the first non-linear travel path 305, thefirst outer arm element 210 a is shifted in the opposite longitudinaldirection away from the load area (e.g., in the negative y-direction, asillustrated) as it travels through the curved portion 305 a of the firstnon-linear travel path 305. The first non-linear travel path 305 isconfigured such that as the first load arm 210 is approaching a fullyretracted configuration wherein the captured object disposed on a loadbed 201 is positioned within the shuttle body 101, the first outer armelement 210 a is longitudinally shifted away from the load area, causingthe first arm interface portion 211 of the first load arm 210 todisengage the captured object.

As described herein, in such an exemplary circumstance wherein thenon-linear guide track causes the first outer arm element 210 a totravel along the first non-linear travel path 305 such that, as thefirst load arm 210 is extending, the load width of the load area isdecreased to be at least substantially similar to the width of thestored object, the first mechanical finger 231 may comprise a one-wayhinged configuration in order to allow the first mechanical finger 231to be rotated towards a retracted position and avoid unwarrantedphysical interference caused by the first mechanical finger 231 beingforced into the stored object (e.g., as the first load arm 210 is stillexpanding).

In various embodiments, as illustrated in FIG. 3C, both the first loadarm 210 and the second load arm 220 may be configured for movement alongat least partially non-linear guide tracks such that the respectiveouter arm elements 210 a, 220 a thereof exhibit the illustrated firstnon-linear travel path 305 and second non-linear travel path 306,respectively. As described above, the first non-linear travel path 305and the second non-linear travel path 306 may include a first curvedfeature 305 a and a second curved feature 306 a, respectively, eachcorresponding to a longitudinal shift in the respective outer armelement 210 a, 220 a travelling there along. In various embodiments, therespective curved features 305 a, 306 a defined along the firstnon-linear travel path 305 and the second non-linear travel path 306 maybe at least substantially symmetrical to one another over a lateral axisof symmetry provided therebetween. The material handling assembly 200may be configured such that as the first and second load arms 210, 220are extended and the first outer arm element 210 a and the second outerarm element 220 a are moved along the first and second non-linear travelpaths 305, 306, respectively, the first arm interface portion 211 andthe second arm interface portion 221 are each longitudinally shiftedtowards the load area (e.g., towards one another) so as to decrease theseparation distance therebetween to a distance that is at leastsubstantially similar to the width of the stored object. Conversely, asthe first load arm 210 and the second load arm 220 are retracted and thefirst and second outer arm elements 210 a, 220 a are moved in theopposite direction (e.g., towards a retracted configuration) along therespective first and second non-linear travel paths 305, 306, the firstouter arm element 210 a and the second outer arm elements 220 a eachexhibit a longitudinal shift away from the load area as they travelsthrough the first and second curved features 305 a, 306 a of therespective non-linear travel paths 305, 306. Collectively, the first andsecond non-linear travel paths 305, 306 may be configured such that asthe first and second load arms 210, 220 are approaching a fullyretracted configuration wherein a captured object disposed on a load bed201 is positioned within the shuttle body 101, the first and second loadarms 210, 220 are each longitudinally shifted away from the load area,causing the first arm interface portion 211 of the first load arm 210and the second arm interface portion 221 of the second load arm 220 todisengage the captured object. As described herein, in such an exemplarycircumstance, the non-linear (e.g., curved) features of the guide trackscorresponding to the first and second non-linear travel paths 305, 306along which the first and second load arms 210, 220 extend and retractembody a mechanical means of facilitating the selective engagement of astored object by one or more load arms (e.g., an arm interface portionthereof) for executing a retrieval operation and, further, the selectivedisengagement of the captured object by the one or more load arms forreleasing the object at a shuttle body of the shuttle.

In various embodiments, as described herein, an exemplary retrievaloperation for retrieving a stored object from a storage location withinan AS/RS using an exemplary shuttle may be executed using a shuttle witha material handling assembly comprising at least one retractable loadarm that includes a mechanical finger provided at a distal end of theload arm (e.g., at a distal end of an outer arm element) forfacilitating deliberate physical engagement with the object provided inthe load area as the load arm is being retracted from the storagelocation back to the shuttle body (e.g., to a retracted configuration).In various embodiments, a mechanical finger of an exemplary shuttle maycomprise an at least partially retractable mechanical finger comprisinga spring component and a one-way hinge element that enable themechanical finger to be rotationally retracted into an adjacent portionof the load arm (e.g., the outer arm element) upon being physicallyengaged by a stored object as the load arm is being extended into thestorage location. In various embodiments, as illustrated in FIGS. 4A and4B, an exemplary shuttle may comprise a material handling assembly 200comprising a first load arm 210 comprising a first mechanical finger 231provided at a distal end thereof and protruding away from the first arminterface portion 211 into the load area (e.g., in the positivey-direction, as illustrated). Further, the material handling assembly200 may comprise a second load arm 220 comprising a second mechanicalfinger 232 provided at a distal end thereof and protruding away from thesecond arm interface portion 221 into the load area (e.g., in thenegative y-direction, as illustrated). As illustrated in FIG. 4A, thefirst mechanical finger 231 and the second mechanical finger 232comprise retractable mechanical fingers that are hingedly connected tothe first load arm 210 and the second load arm 220, respectively, suchthat first and second mechanical fingers 231, 232 are each configured tomove between a nominal expanded finger position and a retracted fingerposition, as described herein, by rotating through a horizontalrotational plane (e.g., a plane of rotation that is at leastsubstantially parallel to the load bed 201) about a respective verticalhinge axis. For example, as illustrated, based at least in part on theconfiguration of the one-way hinge component of the first mechanicalfinger 231, the first mechanical finger 231 may be arranged in anexpanded finger position defined by the first mechanical finger 231extending from the first arm interface portion 211 into the load area ina longitudinal direction that is at least substantially perpendicular tothe arm length of the first load arm 210. Further, the first mechanicalfinger 231 may be arranged in a retracted finger position defined by thefirst mechanical finger 231 being positioned at least partially withinthe first load arm 210 (e.g., within the first outer arm element 210 a)by extending in a lateral direction that is at least substantiallyparallel to the arm length of the first load arm 210 such that the firstmechanical finger 231 is retracted from the load area and disposedwithin the first load arm 210.

In various embodiments, a retractable mechanical finger comprising aone-way hinge component, such as, the first mechanical finger 231 and/orthe second mechanical finger 232, may comprise at least one springelement configured to facilitate the rotational movement of themechanical finger relative to the load arm to which the mechanicalfinger is secured between the expanded finger position and the retractedfinger position. For example, in various embodiments, the at least onespring element of the first mechanical finger 231 may be configured togenerate a spring force that acts on the first mechanical finger 231 soas to impart a first expansion moment corresponding to an expansionrotational direction (e.g., a rotational direction about the verticalhinge axis that extends from the retraction finger position towards theexpanded finger position) onto the first mechanical finger 231, such as,for example, with respect to the first mechanical finger 231, in thecounterclockwise direction, from the top perspective shown in FIGS.4A-4B. For example, in various embodiments, the at least one springelement of an exemplary mechanical finger may be configured to bias themechanical finger towards the expanded finger position by applying an atleast substantially constant spring force to the mechanical finger.Further, as described herein, as the at least one spring elements of thefirst mechanical finger 231 act to bias the first mechanical finger 231towards an expansion rotational direction, the one-way hinge componentof the first mechanical finger 231 illustrated in FIGS. 4A-4B may beconfigured to prevent the first mechanical finger 231 from rotating inthe expansion rotational direction beyond the expanded finger position.Accordingly, the one-way hinge component and the at least one springelements of the first mechanical finger 231 collectively function todefine the expanded finger position as the nominal configuration of thefirst mechanical finger 231. Such an exemplary mechanical finger 231,232, as described herein, may be configured such that, in order to causethe mechanical finger to be pivoted about the vertical hinge axis fromthe expanded finger position towards the retracted finger position, asecondary force (e.g., moment) that is at least substantially greaterthan the spring force from the at least one spring elements and acts onthe finger 231, 232 in the retraction rotational direction may berequired.

FIG. 4B illustrates the first mechanical finger 231 of the exemplarymaterial handling assembly 200 shown in FIG. 4A in an expanded fingerposition, wherein the first mechanical finger 231 comprises a hingedmechanical finger comprising a one-way hinge component and at least onespring element. In various embodiments, the first mechanical finger 231may comprise an at least substantially linear component defined by afinger length that extends between a first finger end 231 a and a secondfinger end 231 b. As shown, the first mechanical finger 231 may byhingedly connected to the outer arm element 210 a of the first load arm210 at the first finger end 231 a thereof. In various embodimentswherein the first mechanical finger 231 is configured in an at leastpartially expanded configuration (e.g., a fully expanded configuration),the second finger end 231 b thereof is disposed within the load area. Asdescribed herein, based at least in part on various forces actingthereon, such as, for example, a spring force being applied from aspring element of the first mechanical finger 231 to position the finger231 in a nominal expanded finger position and/or a pushing force actingon the first mechanical finger 231 such that a moment is imparted on thefinger 231 in the retraction rotational direction (e.g., a clockwiserotational direction, as viewed from the illustrated top perspective ofthe shuttle), the first mechanical finger 231 may rotate through a firstrotational range of motion 307 defined between the illustrated fullyexpanded finger position, wherein the finger length of the firstmechanical finger 231 extends at least substantially perpendicularly tothe arm interface portion 211 of the first load arm 210, and the fullyretracted finger position, wherein the second finger end 231 b ispositioned at least substantially adjacent the first arm interfaceportion 211 such that the first mechanical finger is retracted from theload area into the first load arm 210 and the finger length of the firstmechanical finger 231 is at least substantially parallel to the lengthof the outer arm element 210 a of the first load arm 210.

As an illustrative example, an exemplary shuttle comprising theexemplary material handling assembly 200 shown in FIGS. 4A-4B may beconfigured to execute a retrieval operation, as described herein. Uponthe shuttle being aligned with the storage location containing thestored object, the first and second load arms 210, 220 may each beextended from a retracted configuration an outward lateral direction(e.g., in the negative x-direction, as illustrated) away from theshuttle body towards the storage location. For example, in an exemplarycircumstance wherein the material handling assembly 200 comprises an atleast partially retractable mechanical finger provided at the distal endof one or more of the load arms 210, 220, such as, for example, thefirst and second mechanical fingers 231, 232, the first and second loadarms 210, 220 may be configured to extend in parallel linear directionssuch that the respective arm interface portions 211, 221 thereof areseparated by a longitudinal distance that is at least substantiallysimilar to the width of the stored object in the storage location. Thatis, the longitudinal distance between the first and second mechanicalfingers 231, 232 is at least substantially smaller than the width of theobject. As such, as the first and second load arms 210, 220 are extendedinto the storage location and the first and second mechanical fingers231, 232 continue to travel in the outward lateral direction into thestorage location, the outermost portions of both the first and secondmechanical fingers 231, 232 may physically engage the stored object. Insuch an exemplary circumstance, as the first and second mechanicalfingers 231, 232 continue to move relative to the stored object in theoutward lateral direction, the static object may apply a pushing forceon each of the first and second mechanical fingers 231, 232 that opposesthe lateral movement of the mechanical fingers 231, 232 caused by theextension of the first and second load arms 210, 220 into the storagelocation. For example, a force may be acting on each of the first andsecond mechanical fingers 231, 232 in the positive-x direction, asillustrated, which may impart a first retraction moment and a secondretraction moment on the first and second mechanical fingers 231, 232,respectively. In various embodiments, the hinged connection of the firstand second mechanical fingers 231, 232 to the first and second load arms210, 220, respectively, enables each of the mechanical fingers 231, 232to be rotated along the respective range of rotational movement 307, 308in a retraction rotational direction towards an adjacent portion of thearm interface portion 211, 212. As the first and second load arms 210continue to extend into the storage location towards an extendedconfiguration, the stored object continues to move relative to the firstand second mechanical fingers 231, 232 and may continue to remainengaged with the mechanical fingers 231, 232 until the load arms 210,220 extend into the storage location such that the mechanical fingers231, 232 move beyond the stored object. In various embodiments, as themechanical fingers 231, 232 continue to move relative to the object andwhile the object remains engaged with the mechanical fingers 231, 232,the object may continue to cause each of the mechanical fingers 231, 232to rotate further towards their respective retracted finger positions.In various embodiments based at least in part on the configuration ofthe stored object, one or more of the mechanical fingers 231, 232 may bepushed by the stored object into a fully retracted finger positionwherein at least substantially all of the mechanical finger is retractedwithin the load arm connected thereto.

In various embodiments, as described herein, the first and secondmechanical fingers may comprise at least one spring element configuredto apply a spring force to the respective mechanical finger 231, 232 soas to bias the finger 231, 232 in the expansion rotational direction(e.g., towards the expanded finger position). Upon the first and secondload arms 210, 220 being extended into the storage location such thatthe first and second mechanical fingers 231, 232 are moved past thestored object (e.g., beyond the depth of the stored object) the objectmay disengage the first and second mechanical fingers 231, 232 and,based at least in part on the spring-loaded configuration thereof, thefirst and second mechanical fingers 231, 232 may each move along theirrespective range of rotational movements 307, 308 in an expansionrotational direction until the fingers 231, 232 reach the expandedfinger position, as illustrated.

Upon the first and second load arms 210, 220 being arranged in a fullyextended configuration such that the stored object is disposed withinthe load area (e.g., on the load bed 201) in between the first andsecond outer arm elements 210 a, 220 a (e.g., the first and second arminterface portions 211, 221), the material handling assembly 200 may beconfigured to retract the first and second load arms 210, 220 in theopposite lateral direction (e.g., in the positive x-direction, asillustrated) in order to bring the captured object back to the shuttlebody. The first and second load arms 210, 220 may be retracted such thatthe first and second mechanical fingers 231, 232 secured thereto aresimilarly moved in the opposite lateral direction. In variousembodiments, as the first and second mechanical fingers 231, 232continue to travel in the inward lateral direction towards the shuttlebody, the innermost portions of both the first and second mechanicalfingers 231, 232 may physically engage the captured object disposedwithin the load area. In various embodiments, based at least in part onthe one-way hinge component of each mechanical finger 231, 232, thefirst and second mechanical fingers 231, 232 do not rotate in theirrespective expansion rotational directions upon physically engaging thecaptured object, but rather, the mechanical fingers 231, 232 remainfixed in their respective expanded finger positions and thus, remainengaged with the captured object such that the fingers 231, 232 maycause the object to move with the load arms 210, 220 back towards theshuttle body. In various embodiments, an exemplary retractablemechanical finger comprising a hinged configuration, such as, forexample, the exemplary first mechanical finger 231 shown in FIGS. 4A-4B,may be configured to at least substantially minimize the amount of loadarm longitudinal movement required in order for a material handlingassembly to execute a retrieval operation by enabling the stored objectto pass through the hinged mechanical finger with minimal physicalinterference as the load arm is being extended into the storagelocation, rather than having to longitudinally move one or more of thesupport arms to accommodate an object width or utilize electronic,motor-drive fingers that are selectively expanded upon the load armbeing fully extended into the storage location.

As described herein, in various embodiments, an exemplary mechanicalfinger may have an at least partially retractable configuration suchthat the mechanical finger may be at least partially retracted towardthe load arm (e.g., the outer arm element) to which the finger issecured based at least in part on the finger physically engaging atleast a portion of an object disposed in the load area on the load bed201. For example, as illustrated in FIGS. 5A-5B, in various embodiments,a shuttle may comprise a material handling assembly 200 comprising oneor more (e.g., a plurality) of mechanical fingers (e.g., a firstmechanical finger 231, a second mechanical finger 232, a thirdmechanical finger 233, and a fourth mechanical finger 234) that areprovided along an arm interface portion of a load arm and comprise an atleast partially retractable configuration defined by a range of relativelinear movement between the mechanical finger and the load arm connectedthereto. As illustrated in FIG. 5A, the first mechanical finger 231 andthe third mechanical finger 233 comprise retractable mechanical fingersthat are provided along the arm length of the first load arm 210 (e.g.,adjacent opposing lateral sides of the load bed), and the secondmechanical finger 232 and fourth mechanical finger 234 compriseretractable mechanical fingers that are provided along the arm lengththe second load arm 220. As shown, each of the plurality of mechanicalfingers 231, 232, 233, 234 is configured to move between a nominalexpanded finger position and a retracted finger position, as describedherein, by moving in a respective longitudinal direction perpendicularlyinto and/or out of the respective load arm to which the finger isconnected. For example, as illustrated, a first mechanical finger 231may be arranged in an expanded finger position defined by the firstmechanical finger 231 extending from the first arm interface portion 211into the load area in a longitudinal expansion direction (e.g., thepositive y-direction, as illustrated) that is at least substantiallyperpendicular to the arm length of the first load arm 210. Further, thefirst mechanical finger 231 may be arranged in a retracted fingerposition defined by the finger length of the first mechanical finger 231being positioned at least partially within the first load arm 210 (e.g.,within the first outer arm element 210 a) by being moved in alongitudinal retraction direction that is opposite from the longitudinalexpansion direction such that the finger length of the first mechanicalfinger 231 is retracted from the load area and disposed within the firstload arm 210. As shown in FIG. 5A, each of the plurality of mechanicalfingers 231, 232, 233, 234 are configured to move between a respectiveexpanded finger position and retracted finger position such that each ofthe retractable fingers defines a respective a range of relative linearmovement that extends linearly in a longitudinal direction between theextended and retracted finger positions described above. For example, asillustrated, the first mechanical finger 231 may be configured to movealong a first range of linear movement 309 a, the second mechanicalfinger 232 may be configured to move along a second range of linearmovement 309 b, the third mechanical finger 233 may be configured tomove along a third range of linear movement 310 a, and the fourthmechanical finger 234 may be configured to move along a fourth range oflinear movement 310 b.

In various embodiments, wherein an exemplary shuttle 10 comprises afirst load arm 210 and a second load arm 220, the plurality ofmechanical fingers 230 may comprise a first set of mechanical fingers,including a first mechanical finger 231 and a second mechanical finger232 provided at distal ends of the first load arm 210 and a second loadarm 220, respectively, that are configured to facilitate the retrievalof an object by causing an object provided in the load area to be pulledtowards the shuttle body 101 as the load arms 210, 220 are retracted.Further, the plurality of mechanical fingers 230 may comprise a secondset of mechanical fingers, including a third mechanical finger 233 and afourth mechanical finger 234 provided at the opposing lateral ends ofthe respective first and second outer arm elements 210 a, 220 a relativeto the respective distal portions (e.g., at least substantially adjacenta second lateral side of the load bed 201) of the first load arm 210 anda second load arm 220, respectively. In various embodiments, such thirdand further mechanical fingers 233, 234 may be configured to facilitatethe dispense and/or storage of an object by causing the object beingheld at the shuttle body to be pushed in an outward lateral directionaway from the shuttle body 101 (e.g., toward a storage location) as theload arms 210, 220 are extended. In such an exemplary circumstance, theexemplary shuttle embodiments and configurations described herein withrespect to the retrieval of a stored object from a storage location maybe applied with respect to such exemplary third and fourth mechanicalfingers 233, 234 to facilitate execution of an exemplary storageoperation.

As described herein with respect to the exemplary retractable mechanicalfingers comprising a one-way hinged configuration, the exemplaryretractable mechanical fingers comprising a linear retractionconfiguration, as illustrated in FIGS. 5A and 5B, may comprise at leastone spring element configured to facilitate the linear movement of themechanical finger between the expanded finger position and the retractedfinger position. For example, in various embodiments, the at least onespring element of the first mechanical finger 231 may be configured togenerate a spring force that acts on the first mechanical finger 231 inan expansion direction. For example, in various embodiments, the atleast one spring element of an exemplary mechanical finger may beconfigured to bias the mechanical finger towards the expanded fingerposition by applying an at least substantially constant spring force tothe mechanical finger. Further, as described herein, as the at least onespring elements of the first mechanical finger 231 act to bias the firstmechanical finger 231 towards an expansion direction.

FIG. 5B illustrates the first mechanical finger 231 of the exemplarymaterial handling assembly 200 shown in FIG. 5A in an expanded fingerposition, wherein the first mechanical finger 231 comprises aretractable mechanical finger configured for a linear retractionmovement along first range of linear movement 309 a. In variousembodiments, the first mechanical finger 231 may comprise an at leastsubstantially linear component defined by a finger length that extendsbetween a first finger end 231 a and a second finger end 231 b. Asshown, the first mechanical finger 231 may by connected to the outer armelement 210 a of the first load arm 210 such that the mechanical finger231 may be longitudinally translated into and out of the first load arm210 in response to one or more forces acting thereon (e.g., from astored object within a storage location). In various embodiments whereinthe first mechanical finger 231 is configured in an at least partiallyexpanded configuration (e.g., a fully expanded configuration), thesecond finger end 231 b thereof is disposed within the load area. Asdescribed herein, based at least in part on various forces actingthereon, such as, for example, a spring force being applied from aspring element of the first mechanical finger 231 to position the finger231 in a nominal expanded finger position and/or a pushing force actingon the first mechanical finger 231 such that the finger 231 is pushed inthe retraction direction (e.g., in the negative y-direction, asillustrated), the first mechanical finger 231 may move along the firstrange of linear movement in the retraction direction such that thesecond finger end 231 b is moved towards the surface of the arminterface portion 211. In various embodiments, such an exemplarymechanical finger 231 may be engaged by an object such that it is movedto a retracted finger position, wherein the second finger end 231 b ispositioned at least substantially adjacent the first arm interfaceportion 211 such that the first mechanical finger 231 is retracted fromthe load area into the first load arm 210.

In various embodiments, an exemplary shuttle may comprise a materialhandling assembly 200 that does not include any mechanical fingersconfigured to facilitate the handling of an object disposed within theload area, as described herein. For example, as illustrated in FIG. 6 ,the exemplary material handling assembly 200 comprises a first load arm210 comprising an outer arm element 210 a that includes a first arminterface portion 211 that is made from an at least substantiallycompliant material configured to facilitate the stabilization of anobject engaged therewith in one or more directions. For example, invarious embodiments, a first arm interface portion 211 may comprise anat least one or more longitudinal protrusion portions extending in an atleast partially perpendicular direction relative to the arm length ofthe first load arm 210 and configured to facilitate the constraint of anobject engaged therewith in one or more lateral directions. For example,in various embodiments, the soft, malleable, moldable, manipulatable,and/or otherwise compliant material described herein may be used to atleast substantially maximize the amount of surface area of the first arminterface portion 211 that is engaged with an object disposed within theload area. In particular, such an exemplary arm interface portion 211may be utilized to effectively accommodate the retrieval, disposal,and/or transportation of objects having extraordinary and/or uniquesize, shape, or other features. Further, as illustrated, in variousembodiments a materials handling assembly 200 may comprise a first loadarm 210 and a second load arm 220, each comprising an exemplary arminterface portion (e.g., first arm interface portion 211, second arminterface portion 221) the does not include any mechanical fingersprotruding therefrom, but rather, may comprise an at least partiallycompliant material configured to facilitate effective handling of acaptured object disposed on the load bed 201. Further, in variousembodiments, one or more of the first and second load arms 210, 220 of amaterial handling assembly 200 that includes a first arm interfaceportion 211 and a second arm interface portion 221 made of an at leastsubstantially compliant material without any mechanical fingers, may beconfigured to selectively move in a respective longitudinal directiontowards the load area in order for the corresponding arm interfaceportion 211, 221 of the one or more load arms 210, 220 to abut at leasta portion of the object disposed within the load area.

Many modifications and other embodiments will come to mind to oneskilled in the art to which this disclosure pertains having the benefitof the teachings presented in the foregoing descriptions and theassociated drawings. Therefore, it is to be understood that thedisclosure is not to be limited to the specific embodiments disclosedand that modifications and other embodiments are intended to be includedwithin the scope of the appended claims. Although specific terms areemployed herein, they are used in a generic and descriptive sense onlyand not for purposes of limitation.

That which is claimed:
 1. A shuttle configured for use in an automatedstorage and retrieval system, the shuttle comprising: a plurality ofretractable load arms at least partially secured relative to a shuttlebody and configured to be extendable between a retracted configurationand an extended configuration, the plurality of retractable load armscomprising: a first load arm configured to extend at least substantiallyaway from the shuttle body in a first lateral direction; and a secondload arm configured to extend at least substantially away from theshuttle body in a second lateral direction that is at leastsubstantially parallel to the first lateral direction; a load bedconfigured to support at least one object and comprising a width thatextends between the first load arm and the second load arm, wherein atleast a portion of the load bed defines a load area configured toreceive the at least one object therein; a retractable mechanical fingerprovided at a distal portion of the first load arm and configured tofacilitate handling of the at least one object, the mechanical fingerbeing hingedly connected to the first load arm and comprising at leastone spring element that facilitates rotational movement of themechanical finger relative to the first load arm between an expandedfinger position and a retracted finger position; wherein the mechanicalfinger is hingedly connected to the first load arm using a one-way hingecomponent configured to at least partially define a range of rotationalmovement of the mechanical finger relative to the first load arm.
 2. Theshuttle of claim 1, wherein the mechanical finger is configured torotate from the expanded finger position in a retraction rotationaldirection at least partially towards the retracted finger position inresponse to a first retraction moment being imparted on the mechanicalfinger in the retraction rotational direction.
 3. The shuttle of claim1, wherein the expanded finger position is defined by a finger length ofthe mechanical finger extending from the first load arm and into theload area in an at least substantially perpendicular direction relativeto an arm length of the first load arm; and wherein the retracted fingerposition is defined by the mechanical finger being retracted into thefirst load arm such that the finger length of the mechanical fingerextends at least substantially parallel to the arm length of the firstload arm.
 4. The shuttle of claim 1, wherein the at least one springelement of the mechanical finger is configured to bias the mechanicalfinger towards the expanded finger position by applying a spring forceto the mechanical finger that imparts a first expansion moment on themechanical finger in an expansion rotational direction.
 5. The shuttleof claim 1, further comprising a second retractable mechanical fingerprovided at a second distal portion of the second load arm andconfigured to facilitate handling of the at least one object, the secondmechanical finger being hingedly connected to the second load arm andcomprising at least one second spring element that facilitatesrotational movement of the second mechanical finger relative to thesecond load arm between a second expanded finger position and a secondretracted finger position; wherein the second mechanical finger ishingedly connected to the second load arm using a second one-way hingecomponent configured to at least partially define a second range ofrotational movement of the second mechanical finger relative to thesecond load arm.
 6. The shuttle of claim 5, wherein the at least onesecond spring element of the second mechanical finger is configured tobias the second mechanical finger towards the second expanded fingerposition by applying a second spring force to the second mechanicalfinger that imparts a second expansion moment on the second mechanicalfinger in a second expansion rotational direction; wherein the expansionrotational direction defined by the mechanical finger and the secondexpansion rotational direction defined by the second mechanical fingercomprise at least substantially opposite rotational directions.
 7. Theshuttle of claim 1, wherein the one-way hinge component is defined atleast in part by a vertical hinge axis such that the range of rotationalmovement of the mechanical finger relative to the first load arm isdefined in an at least substantially horizontal plane.
 8. The shuttle ofclaim 7, wherein the at least substantially horizontal plane is at leastsubstantially parallel the load bed.
 9. The shuttle of claim 1, whereinthe one-way hinge component is configured to, when the mechanical fingeris in the expanded finger position, prevent the mechanical finger frombeing rotated in an expansion rotational direction away from theretracted finger position, such that the one-way hinge component definesthe rotational range of movement of the mechanical finger relative tothe first load arm by at least partially restricting the range ofrotational movement in the expansion rotational direction.
 10. Theshuttle of claim 1, wherein at least a portion of the first load arm isconfigured to be selectively translated in a first longitudinaldirection relative to the load area so as to dynamically adjust a loadwidth of the load area in order to facilitate handling of the at leastone object disposed on the load bed.
 11. The shuttle of claim 10,wherein the first load arm extends in the first lateral direction alonga first guide track configured to define a first load arm travel path ofthe first load arm between a retracted configuration and an extendedconfiguration, wherein at least a portion of the first guide track isdefined by a non-linear feature configured to cause the at least aportion of the first load arm to exhibit a longitudinal shift in thefirst longitudinal direction from a first longitudinal position to asecond longitudinal position as the first load arm travels along thefirst guide track in one of an extension direction and a retractiondirection.
 12. The shuttle of claim 1, wherein the first load armcomprises an arm interface portion defined by a surface of the firstload arm that is positioned at least substantially adjacent the loadarea and faces the second load arm so as to be configured for physicalengagement of the at least one object disposed within the load area toat least partially secure the at least one object within the load area;wherein the arm interface portion is made of a high-traction material.13. The shuttle of claim 1, further comprising a second mechanicalfinger extending from the first load arm into the load area in a secondlongitudinal direction at least substantially parallel to the at leastsubstantially perpendicular direction relative to the first load arm;wherein the mechanical finger is positioned at least substantiallyadjacent a first lateral side of the load bed and wherein the secondmechanical finger is positioned at least substantially adjacent a secondlateral side of the load bed.
 14. The shuttle of claim 1, furthercomprising a second mechanical finger configured to facilitate handlingof the at least one object, the second mechanical finger extending fromthe second load arm into the load area in an at least substantiallyperpendicular direction relative to the second load arm; wherein themechanical finger is positioned at least substantially adjacent a firstlateral side of the load bed and wherein the second mechanical finger ispositioned at least substantially adjacent a second lateral side of theload bed.
 15. A shuttle configured for use in an automated storage andretrieval system, the shuttle comprising: a plurality of retractableload arms at least partially secured relative to a shuttle body andconfigured to be extendable between a retracted configuration and anextended configuration, the plurality of retractable load armscomprising: a first load arm configured to extend at least substantiallyaway from the shuttle body in a first lateral direction; and a secondload arm configured to extend at least substantially away from theshuttle body in a second lateral direction that is at leastsubstantially parallel to the first lateral direction; a load bedconfigured to support at least one object and comprising a width thatextends between the first load arm and the second load arm, wherein atleast a portion of the load bed defines a load area configured toreceive the at least one object therein; a mechanical finger provided ata distal portion of the first load arm and configured to facilitatehandling of the at least one object, the mechanical finger extendingfrom the first load arm into the load area in an at least substantiallyperpendicular direction relative to the first load arm; wherein at leasta portion of one or more of the first load arm and the second load armis configured to be selectively translated in a first longitudinaldirection relative to the load area so as to dynamically adjust a loadwidth of the load area in order to facilitate handling of the at leastone object disposed on the load bed.
 16. The shuttle of claim 15,wherein the mechanical finger comprises an at least substantially rigidconfiguration.
 17. The shuttle of claim 16, further comprising: a secondmechanical finger provided at a second distal portion of the second loadarm and configured to facilitate handling of the at least one object,the second mechanical finger extending from the second load arm into theload area in an at least substantially perpendicular direction relativeto the second load arm and comprising an at least substantially rigidconfiguration; wherein at least a portion of the first load arm and atleast a portion of second load are configured to be selectivelytranslated in the first longitudinal direction and a second longitudinaldirection relative to the load area, respectively, so as to dynamicallyadjust the load width of the load area in order to facilitate handlingof the at least one object disposed on the load bed.
 18. The shuttle ofclaim 15, wherein the mechanical finger comprises an at least partiallyretractable configuration defined by a range of relative linear movementbetween the mechanical finger and the first load arm, wherein themechanical finger is configured to at least partially retract from anexpanded finger position in a longitudinal retraction direction towardsa retracted finger position based at least in part on a pushing forceapplied to the mechanical finger from the at least one object disposedwithin the load area.
 19. The shuttle of claim 18, wherein themechanical element further comprises at least one spring element thatfacilitates linear movement of the mechanical finger relative to thefirst load arm between the expanded finger position and the retractedfinger position, the spring element being configured to bias themechanical finger towards the expanded finger position by applying aspring force to the mechanical finger in the at least substantiallyparallel direction relative to the first load arm.
 20. The shuttle ofclaim 15, further comprising a second mechanical finger configured tofacilitate handling of the at least one object, the second mechanicalfinger extending from the second load arm into the load area in an atleast substantially perpendicular direction relative to the second loadarm; wherein the mechanical finger is positioned at least substantiallyadjacent a first lateral side of the load bed and wherein the secondmechanical finger is positioned at least substantially adjacent a secondlateral side of the load bed.